Under the experimental menu you can install one called mupen64plus testing- that has the best results for n64 games but even then they’ll still be hit and miss. I just stick with a PC for n64 games.
See this page:
https://github.com/RetroPie/RetroPie-Setup/wiki/Nintendo-64
Also each new release on the downloads page there is a changelog showing what has been changed/added since the last version. I also keep a page on the wiki updated as well: https://github.com/RetroPie/RetroPie-Setup/wiki/Changelogs